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Equity Incentive Plans - Additional Information (Details)
1 Months Ended 12 Months Ended
Dec. 31, 2020
USD ($)
Installment
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock reserved for issuance | shares 6,271,669 7,217,640 6,271,669  
Total intrinsic value of options exercised $ 6,697,000 $ 22,512,000 $ 6,697,000 $ 887,000
Weighted average grant date fair value of options granted | $ / shares   $ 25.66 $ 31.21 $ 11.11
Total estimated grant date fair value of options vested   $ 31,800,000 $ 10,500,000 $ 1,200,000
Stock-based compensation expense related to options granted   29,853,000 $ 14,470,000 2,056,000
Income tax benefits recognized   0    
Unamortized employee stock-based compensation   $ 79,300,000    
Unamortized employee stock-based compensation expected to recognized over remaining estimated vesting period   2 years 10 months 17 days    
Dividend yield   0.00%    
Arithmetic Average        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Expected term   10 years    
Performance Stock Options        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Total intrinsic value of options exercised   $ 0    
Weighted average grant date fair value of options granted | $ / shares     $ 14.90  
Stock-based compensation expense related to options granted   3,713,000 $ 203,000  
Unamortized employee stock-based compensation   $ 6,100,000    
Unamortized employee stock-based compensation expected to recognized over remaining estimated vesting period   1 year 9 months 18 days    
Options granted | shares 675,000      
Number of installments | Installment 2      
Number of consecutive trading days 45 days      
Employees and Non-Employees        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense related to options granted   $ 26,140,000 $ 14,267,000 $ 2,056,000
2019 Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Maximum aggregate number of shares that may be issued under the plan | shares   7,388,054    
Increase in number of shares available for issuance as proportion of shares of common stock | shares   2,146,354    
Percentage of common stock outstanding   4.00%    
Common stock reserved for issuance | shares   138,926    
2019 ESPP        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Increase in number of shares available for issuance as proportion of shares of common stock | shares   536,589    
Percentage of common stock outstanding   1.00%    
Common stock reserved for issuance | shares   832,421    
Maximum period for common stock shares reserved for future issuance   10 years